sh-r/team_triangle

Preliminary line following algorithm for ACTor 1

Line Follow

Line following algorithm for the Polaris GEM e2 ACTor vehicle.

Test Course

Parking Lot H

Dependencies

Make sure you have the following packages in your workspace:

• DataspeedInc's dwb_polaris_can
• Allied Vision's avt_vimba_camera

Usage

On the ACTor vehicle:

Clone this repo to ~/actor_ws/src and build the package using catkin build.

$ git clone https://github.com/irisfield/team_triangle.git

Make sure to give execution permission to the scripts:

$ chmod +x team_triangle/scripts/*.py

Assuming you have already sourced the setup script, run the package:

$ roslaunch team_triangle actor_follow_line.launch

Notes

• The drive-by-wire CAN bus needs to be connected.